A method for controlling movement trajectories of a robot, the method including predicting, in an offline mode, values of at least one parameter related to the execution of alternative movement trajectories between a first position of the robot and a second position of the robot; selecting, in the offline mode, a movement trajectory based on the predicted values of the at least one parameter; and executing the selected movement trajectory by the robot. A control system for controlling movement trajectories of a robot is also provided.

Dynamic control of a center of mass position is based on replacement of discrete motion of macro body (counterweighing solid or counterbalancing mechanisms) for continuous molecular flow of counterweighing liquid. Redistributing liquid counterweight between chambers attached to independently moving parts of robot allows its motion to new stable position without disruption in static stability and dynamic balance. Various embodiments include bipods/humanoids, wheeled locomotion robots and hybrid wheeled/multi-pod bio-like robotic systems; some embodiments allow reversible mutual reconfiguration between various structural arrangements. In humanoid embodiments, method allows moving on uneven terrain or ascending staircases while maintaining static stability; method also decreases the probability of fall and secures self-rising if a fall occurred. In some embodiments liquid counterweight may be transferred upon high barriers exceeding the height of robot by a few folds, such as walls of the building or ledge or steep slope in mountains, thus providing robots with capability principally not available to prior art.

A method for planning a manipulation task of an agent, particularly a robot. The method includes: learning a number of manipulation skills wherein a symbolic abstraction of the respective manipulation skill is generated; determining a concatenated sequence of manipulation skills selected from the number of learned manipulation skills based on their symbolic abstraction so that a given goal specification indicating a given complex manipulation task is satisfied; and executing the sequence of manipulation skills.

Generating a robot control policy that regulates both motion control and interaction with an environment and/or includes a learned potential function and/or dissipative field. Some implementations relate to resampling temporally distributed data points to generate spatially distributed data points, and generating the control policy using the spatially distributed data points. Some implementations additionally or alternatively relate to automatically determining a potential gradient for data points, and generating the control policy using the automatically determined potential gradient. Some implementations additionally or alternatively relate to determining and assigning a prior weight to each of the data points of multiple groups, and generating the control policy using the weights. Some implementations additionally or alternatively relate to defining and using non-uniform smoothness parameters at each data point, defining and using d parameters for stiffness and/or damping at each data point, and/or obviating the need to utilize virtual data points in generating the control policy.

New multi-computer architecture allows for the protection of personal computers to reinforce online security. The disclosed system encompasses intermediate lock-computer and unidirectional internal interfaces based on novel principles providing complete security while sending information to world wide web and reliable filtering of unwanted software while receiving information from the Internet and a secure way to send and receive data through public networks utilizing optical signals and LiFi connections. A key physical principle is the physical separation of dataflow from web-connected computer to intermediate lock-computer to the main personal computer and the counter data flow from main computer to lock-computer to web-connected computer. The usage of optical cables are more secure than electrical because the optical cables do not emit any Radio Frequency Energy (RF Energy) which are susceptible to hacking and the use of Light Fidelity (LiFi) which allows for wireless network capabilities without omitting any RF Energy.

New multi-computer architecture allows for the protection of personal computers to reinforce online security. The disclosed system encompasses intermediate lock-computer and unidirectional internal interfaces based on novel principles providing complete security while sending information to world wide web and reliable filtering of unwanted software while receiving information from the Internet and a secure way to send and receive data through public networks utilizing optical signals and LiFi connections. A key physical principle is the physical separation of dataflow from web-connected computer to intermediate lock-computer to the main personal computer and the counter data flow from main computer to lock-computer to web-connected computer. The usage of optical cables are more secure than electrical because the optical cables do not emit any Radio Frequency Energy (RF Energy) which are susceptible to hacking and the use of Light Fidelity (LiFi) which allows for wireless network capabilities without omitting any RF Energy.

Systems and techniques for grasp selection may include receiving one or more candidate object trajectories and a current grasp of a robotic hand on an object, sampling random candidate grasps for the one or more candidate object trajectories based on the current grasp, generating one or more grasps to be optimized for each of the one or more candidate object trajectories based on the sampled candidate grasps, and optimizing one or more of the grasps to be optimized for each of the one or more candidate object trajectories based on a cost function.

Systems and methods for online iterative re-planning are provided herein. In one embodiment, a method includes receiving, at a first time step, a first grasp and an initial object pose of an agent. The method also includes generating a first set of candidate object trajectories based on the first grasp and the initial object pose. Candidate object trajectories of the first set of candidate object trajectories provide a number object poses from the initial object pose to a goal for a number of future time steps after the first time step. The method further includes calculating contact points for grasps associated with each candidate object trajectory of the first set of candidate object trajectories. The method further includes selecting a first candidate object trajectory from the first set of candidate object trajectories. The method includes causing the agent to execute the first candidate object trajectory at a second time step.

Generating a robot control policy that regulates both motion control and interaction with an environment and/or includes a learned potential function and/or dissipative field. Some implementations relate to resampling temporally distributed data points to generate spatially distributed data points, and generating the control policy using the spatially distributed data points. Some implementations additionally or alternatively relate to automatically determining a potential gradient for data points, and generating the control policy using the automatically determined potential gradient. Some implementations additionally or alternatively relate to determining and assigning a prior weight to each of the data points of multiple groups, and generating the control policy using the weights. Some implementations additionally or alternatively relate to defining and using non-uniform smoothness parameters at each data point, defining and using d parameters for stiffness and/or damping at each data point, and/or obviating the need to utilize virtual data points in generating the control policy.

New multi-computers architecture allows protection of personal computer by the combined hardware and software means reinforcing online security to the safety level not achievable using software security means alone. The disclosed system encompasses intermediate lock-computer and unidirectional internal interfaces based on novel principles providing complete security while sending information to world wide web and reliable filtering out of unwanted software while receiving information from Internet. One of the key principles underlying the present invention is physical separation of dataflow from web-connected computer to intermediate lock-computer to the main personal computer and the counter dataflow from main computer to lock-computer to web-connected computer. The interfaces in direct data flow from Internet to personal computer and in the counter dataflow may be based on different physical and system principles including novel two-dimensional image-based interface. Effectively, the disclosed methods and apparatuses provide five levels of computer defense, including four principally new levels of defense.